EP2534458B1 - Kompakter und robuster lasten- und bewegungssensor - Google Patents

Kompakter und robuster lasten- und bewegungssensor Download PDF

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Publication number
EP2534458B1
EP2534458B1 EP11742613.0A EP11742613A EP2534458B1 EP 2534458 B1 EP2534458 B1 EP 2534458B1 EP 11742613 A EP11742613 A EP 11742613A EP 2534458 B1 EP2534458 B1 EP 2534458B1
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EP
European Patent Office
Prior art keywords
load
strain gauges
moment
sensor
strain
Prior art date
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Active
Application number
EP11742613.0A
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English (en)
French (fr)
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EP2534458A4 (de
EP2534458A2 (de
Inventor
Michael L. Palmer
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Freedom Innovations LLC
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Freedom Innovations LLC
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Priority to EP19162379.2A priority Critical patent/EP3557210B1/de
Publication of EP2534458A2 publication Critical patent/EP2534458A2/de
Publication of EP2534458A4 publication Critical patent/EP2534458A4/de
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • G01L1/2231—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being disc- or ring-shaped, adapted for measuring a force along a single direction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2/6607—Ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force

Definitions

  • This disclosure relates to sensors for detecting loads and moments applied to the sensor, and more specifically to a compact and robust sensor for detecting loads applied to the sensor in a single direction and moments applied to the sensor in a single plane.
  • Modern, computer-controlled prosthetic devices have many advantages over conventional prosthetic devices.
  • computer-controlled prosthetic devices can allow the amputees to walk with limited fear of stumbling or falling, allow amputees to lead a more active lifestyle, and improve the likelihood that amputees can realize their full economic potential. It is desirable to extend these benefits to as many as is possible of the thousands of new amputees each year, and the millions of existing amputees.
  • a load and moment sensor that is both compact and robust would extend the benefits of the modern, computer-controlled prosthetic device to a broader cross section of the amputee population. Since the prosthetic device must be the same length as the intact limb of the amputee, a more compact sensor allows the prosthetic device to be used by amputees that are shorter in height, especially children. Furthermore, a more robust sensor allows the prosthetic device to be used both in harsher environments and in more aggressive activities such as construction, hiking, and various sports.
  • US2008/139970 relates to a computerized prosthesis alignment system which includes a transducer that can measure socket reactions in the anterior/posterior plane and the right/left planes, while canceling or reducing the transverse forces on the measurements of these socket reactions.
  • EP1840500 discloses a mechanical-quantity measuring device capable of measuring a strain component in a specific direction with high precision.
  • a load and moment sensor as defined by claim 1 and a method for determining a load and a moment applied to a load and moment sensor as defined by claim 7.
  • the present invention relates to a compact and robust load and moment sensor for detecting loads applied to the sensor in a single direction and moments applied to the sensor in a single plane.
  • This allows for load and moment detection in a compact sensor which can be modular.
  • the modularity of the load and moment sensor allows for it to be replaced easily if it is damaged.
  • the modularity allows for the load and moment sensor to be formed from a high strength material such as steel with minimal impact on the device's overall weight. The high strength material can improve the functional life of the load and moment sensor.
  • the load and moment sensor of the present invention includes a plurality of strain gauges placed on specific locations of a sensing element of the sensor.
  • the plurality of strain gauges are wired together into resistor circuits such as two Wheatstone bridges.
  • the output of one Wheatstone bridge is proportional to the applied load while the output of the other is proportional to the applied moment.
  • the strain gauges can be located, for example, on a single sensing element, some of the resistive elements of the Wheatstone bridges can be located elsewhere on the prosthetic leg.
  • the good side load rejection, noise rejection, and temperature compensation can allow the prosthetic leg to more accurately mimic a human gait. Furthermore, the use of one Wheatstone bridge for applied load and another for applied moment improves performance of the prosthetic leg since a processor does not need to calculate the load and moment. The load and moment are measured directly from the outputs of the Wheatstone bridges.
  • the use of a single sensing element can reduce an amount of components utilized by the prosthetic leg. Since components are prone to be damaged, reducing a number of components also reduces an amount of objects which can be potentially damaged. This translates to a lower cost and greater reliability because there are less components that are prone to being damaged and which need to be replaced.
  • strain gauges can be semiconductor strain gauges which tend to have a smaller size while having a higher gauge factor.
  • the higher gauge factor allows for the load and moment sensor to provide accurate results using low strains, which increases fatigue life and resistance to overloading of the load and moment sensor.
  • the compact feature of the load and moment sensor of the present invention allows the prosthetic device to be used by amputees that are shorter in height, especially children, since the prosthetic device must be the same length as the intact limb of the amputee. Furthermore, the robustness of the load and moment sensor of the present invention allows the prosthetic device to be used both in harsher environments and in more aggressive activities such as construction, hiking, and various sports.
  • a load and moment sensor 100 can include a sensing element 102.
  • the load and moment sensor 100 can be compact and robust and can measure both an applied load in a single direction and an applied moment in a single plane.
  • the sensing element 102 can include, for example, a top portion 104, a bottom portion 106, a front side 108, a back side 110, a first side 112, and a second side 114 ( FIG. 4 ).
  • the first side 112 is a right side
  • the second side 114 is a left side.
  • the sensing element 102 includes a mounting surface 124.
  • the mounting surface 124 can include, for example, a plurality of holes 116.
  • the plurality of holes 116 can be, for example, threaded holes which are configured to receive threaded fasteners.
  • the threaded fasteners are used in conjunction with the holes 116 to mount the mounting surface 124 of the sensing element 102 to a portion of a prosthetic device such as a prosthetic ankle and/or a knee.
  • the threaded fasteners can create large amounts of friction to hold the sensing element 102 in place and to also add stiffness to the joint between the sensing element 102 and the surface of the prosthetic device.
  • the threaded fasteners are located relatively far away from the strain gauges (described below). Therefore, if there is movement between the sensing element 102 and the prosthetic device, that movement does not induce strain in the sensing element 102 in the region of the strain gauges. This allows the sensing element 102 and the load and moment sensor 100 to withstand large side loads, including side loads due to impact, without a change to the no-load output of the load and moment sensor 100.
  • the load and moment sensor 100 is designed to be modular in that it can be mounted to a prosthetic device in a way that it can be easily replaced if it is damaged. Furthermore, this modularity of the load and moment sensor 100 allows the sensing element 102 to be made from a high strength material or high strength steel with minimal impact on the overall weight of the prosthetic device.
  • the sensing element 102 can be formed from metal and/or a carbon fiber material.
  • the sensing element 102 is machined from a solid piece of AISI 630 (17-4 PH) stainless steel and then heat treated to condition H900. This material and heat treatment gives the sensing element 102 high strength and good corrosion resistance for harsh environments. At the same time, this material has a good "memory" meaning that it tends to return to the original state of strain after a load is applied then removed. This results in the load and moment sensor 100 providing a more stable output.
  • FIG. 6 depicts a portion of the sensing element 102 along the cross-section A-A of FIG. 2 .
  • FIG. 6 depicts, for example, the plurality of holes 116.
  • the load and moment sensor 100 can also include, for example, lead wires 120 located on the sensing element 102 which can be connected to the strain gauges (described below) to carry an output of the strain gauges.
  • the lead wires 120 can include, for example, the lead wires 120a and 120b.
  • the load and moment sensor 100 can also include indicia 138 which can indicate, for example, the location of the front side 108 of the load and moment sensor 100.
  • the indicia can also include, for example, a serial number of the load and moment sensor 100 for quality control purposes.
  • the indicia can also include additional information which may be useful to the installation, quality control, or operation of the load and moment sensor 100.
  • the strain gauges 122a, 122b, 122c, and 122d are used to detect a moment in a single plane, while the strain gauges 122e, 122f, 122g, and 122h are used to detect a load in a single direction.
  • strain gauges 122a - 122d can provide an output that represent a magnitude of a moment applied to the load and moment sensor 100 in a single plane
  • strain gauges 122e - 122h can provide an output that represent a magnitude of a load applied to the load and moment sensor 100 in a single direction.
  • the strain gauges 122a - 122h are bonded to the sensing element 102 using standard industry practices. In a preferred embodiment, the strain gauges 122a - 122h are bonded to only a single sensing element 102. In addition, the use of the single sensing element 102 can reduce an amount of components utilized by the prosthetic device. Since components are prone to be damaged, reducing a number of components also reduces an amount of objects which can be potentially damaged. This translates to a lower cost and greater reliability because there are fewer components that are prone to being damaged and which need to be replaced.
  • strain gauges can be semiconductor strain gauges which tend to have a smaller size while having a higher gauge factor.
  • the higher gauge factor allows for the load and moment sensor to provide accurate results using low strains, which increases fatigue life and resistance to overloading of the load and moment sensor.
  • the strain gauges 122a - 122h can be a variety of type of strain gauges such as metal foil, semiconductor, or other types of strain gauges.
  • Semiconductor strain gauges are preferably used due to their small size, and their advantage of having a gauge factor in the range of 100 - 155. This is two orders of magnitude greater than that of metal foil gauges which often have gauge factors of 2 - 5.
  • the high gauge factor of the semiconductor strain gauges results in both a more robust sensor and a higher voltage output. The robustness comes from the fact that less strain is required to achieve a usable output, and the higher voltage output is less susceptible to noise. This improves the accuracy of the information output by the semiconductor strain gauges, which results in the load and movement sensor 100 being more accurate. The improved accuracy of the load and moment sensor 100 allows the prosthetic leg to more accurately mimic a human gait.
  • the strain gauges 122a - 122h can be part of resistor circuits, such as a first Wheatstone bridge 140 and a second Wheatstone bridge 142 as shown in FIGS. 11 and 12 , respectively.
  • the strain gauges 122a - 122h can function as variable resistors in the two Wheatstone bridge circuits.
  • the use of the Wheatstone bridges improves performance of the prosthetic leg since a processor does not need to calculate the load and moment.
  • the output of the Wheatstone bridges can correlate with the amount and direction of the applied load or moment.
  • the output of the first Wheatstone bridge 140 is proportional to the applied load along a single axis perpendicular to the mounting surface 124 ( FIG. 1 ) and the output of the second Wheatstone bridge 142 is proportional to the applied moment in a single plane perpendicular to the mounting surface 124. While the strain gauges 122a - 122h ( FIGS. 10 - 12 ) are located on the sensing element 102, some of the resistive elements of the first Wheatstone bridge 140 and the second Wheatstone bridge 142 need not be located on the sensing element 102 ( FIG. 1 ). Instead some of the resistive elements of the first Wheatstone bridge 140 and the second Wheatstone bridge 142 can be placed in a different location, such as on the prosthetic leg, ankle or joint that the sensing element 102 ( FIG. 1 ) is attached to.
  • the first Wheatstone bridge 140 can include, for example, the strain gauges 122a - 122d.
  • the moment has to be applied in a direction 132 which lies in a single plane perpendicular to the mounting surface 124 as shown in FIG. 7 .
  • the applied moment can be detected by the strain gauges 122a - 122d.
  • the applied moment in the direction 132 would cause the load and moment sensor 100 to rotate in a clockwise direction when viewed from the first side 112 if the load and moment sensor 100 was not mounted.
  • To generate a negative moment output the moment has to be applied in a direction 136 which lies in the single plane perpendicular to the mounting surface 124.
  • the applied moment in the direction 136 would cause the load and moment sensor 100 to rotate in a counter-clockwise direction when viewed from the first side 112 if the load and moment sensor 100 was not mounted.
  • FIG. 7 cross section of FIG. 7 along the line B-B
  • FIG. 9 cross section of FIG. 7 along the line C-C
  • the strain gauge 122a and the strain gauge 122b experience compressive strain
  • the strain gauge 122c and the strain gauge 122d experience tensile strain.
  • the compressive strain experienced in the strain gauges 122a and 122b decreases their electrical resistance
  • the tensile strain experienced in the strain gauge 122c and 122c increases their electrical resistance.
  • the strain gauges 122a decreased electrical resistance
  • 122c increased electrical resistance
  • a first voltage can be outputted.
  • the strain gauges 122b decreased electrical resistance
  • 122d increased electrical resistance
  • a second voltage can be outputted. Due to the opposite configuration, the second voltage has the same magnitude as the first voltage, but has a different polarity. This results in a positive voltage differential between the first voltage and the second voltage, and subsequently a positive voltage output.
  • the first Wheatstone bridge 140 could also be configured to generate a positive moment output in the direction 136 and a negative load output in the direction 132.
  • four strain gauges are shown in FIG. 11 , in a comparative example two or more strain gauges can be used instead. In such a case, other types of resistors, having a fixed or variable resistance, can be used to replace the strain gauges, and the strain gauges can be arranged into circuits other than a Wheatstone bridge such as a half bridge or voltage divider.
  • the second Wheatstone bridge 142 in FIG. 12 can include, for example, the strain gauges 122e - 122h.
  • the load has to be applied to the load and moment sensor 100 in a direction 130 perpendicular to the mounting surface 124 as shown in FIG. 7 .
  • the strain gauges 122e - 122h can detect the applied load. When the load is applied to the load and moment sensor 100 in a direction 134, a negative load output is generated.
  • the strain gauges 122e and 122f experience compressive strain while the strain gauges 122g and 122h ( FIG. 10 ) experience tensile strain.
  • the compressive strain experienced in the strain gauges 122e and 122f decreases their electrical resistance, while the tensile strain experienced in the strain gauge 122g and 122h increases their electrical resistance. Since the strain gauges 122e (decreased electrical resistance) and 122g (increased electrical resistance) are paired on a first side of the second Wheatstone bridge 142 ( FIG. 12 ), a third voltage can be outputted.
  • strain gauges 122f decreased electrical resistance
  • 122h increased electrical resistance
  • the third voltage has the same magnitude as the fourth voltage, but has a different polarity. This results in a positive voltage differential between the third voltage and the fourth voltage, and subsequently a positive voltage output.
  • the second Wheatstone bridge 142 could also be configured to generate a positive load output in the direction 134 and a negative load output in the direction 130.
  • four strain gauges are shown in FIG. 12 , in a comparative example two or more strain gauges can be used instead. In such a case, other types of resistors, having a fixed or variable resistance, can be used to replace the strain gauges, and the strain gauges can be arranged into circuits other than a Wheatstone bridge such as a half bridge or voltage divider.
  • the load and moment sensor 100 For the load and moment sensor 100 to be usable in a wide range of applications, it is often desirable that the load and moment sensor 100 have good side load rejection. In other words, the load output may avoid change appreciably when either moment is applied, or loads from a different direction than the single direction are applied. Likewise with a good side load rejection, the moment output may avoid change when either a load is applied, or moments on a different plane than the single plane are applied.
  • Good side load rejection is important because in analyzing the gait cycle of a user, only certain movements are desirable for analysis. Thus, good side load rejection can improve the accuracy of the data output from the load and moment sensor 100, which in turn can improve the ability of the prosthetic leg to mimic the human gait. Good side load rejection for the load and moment sensor 100 is highly dependent on accurate placement of the strain gauges 122a - 122h on the sensing element 102.
  • the strain gauges 122a - 122d can be placed on specific locations of the sensing element 102.
  • the strain gauges +122a - 122d are located on a plane parallel to the mounting surface 124 of the sensing element 102.
  • the strain gauges 122a - 122d are located at the same position relative to a centerline 126 of the sensing element 102 running between the front side 108 and the back side 110. That is, the distance between the strain gauge 122a and the centerline, the distance between the strain gauge 122b and the centerline, the distance between the strain gauge 122c and the centerline, and the distance between the strain gauge 122d and the centerline are equal to each other.
  • the strain gauges 122e - 122h are located on the centerline 126 of the sensing element 102 running between the front side 108 and the back side 110. As seen in FIGS. 8 and 9 , the strain gauges 122e and 122f are located on a plane parallel to the mounting surface 124 of the sensing element 102. That is, the strain gauges 122e and 122f are the same distance from the mounting surface 124.
  • the strain gauges 122g and 122h are located at the same position relative to the centerline 128 of the sensing element 102 running between the first side 112 and the second side 114.
  • the strain gauge 122g is placed at the position relative to the centerline 128 where the measured strain will be equal and opposite to the strain measured by the strain gauge 122e when a moment is applied in the single plane.
  • the strain gauge 122h is placed at a position relative to the centerline 128 where the measured strain will be equal and opposite to the strain measured by the strain gauge 122f when a moment is applied in the single plane.
  • the load and moment sensor may be rated to a load of 1440 N [323.7 lb] and a moment of 135 Nm [99.6 ft-lb]. At this applied load the load output will be about 9 mV/V, and at this applied moment the moment output will be about 45 mV/V. This means the moment output is only about 5 times greater than the load output. In other words, usable load and moment measurement are possible with a single, compact sensor. This is achieved primarily by the fact that the strain gauges 122a - 122h are located at the extremities of the sensing element 102.
  • strain gauges 122a - 122h could be placed on the outside of the vertical walls rather than the inside, but this approach exposes the strain gauges 122a - 122h and wiring to potential damage and may reduce the robustness of the design.
  • the present invention also offers additional advantages aside from side load rejection. Because the load and moment signals come from Wheatstone bridge circuits, the outputs of the load and moment sensor 100 have the well established benefits of this type of circuit. Namely, the output can be temperature compensated over a large operating temperature range, and the differential output is less susceptible to noise since the voltage differencing tends to subtract out the noise in the signal.
  • the sensing element 102 is coated in the area of the wiring with a layer of water proof insulating material such as epoxy.
  • a layer of water proof insulating material such as epoxy.
  • the strain gauges 122a - 122h and wiring are encapsulated in a waterproof insulating material such as silicone.
  • the load and moment sensor 100 is made dust and water resistant.
  • the dust and water resistant properties of the load and moment sensor 100 allows the prosthetic leg to be more rugged and robust.
  • the rugged and robust qualities enable the user to use the prosthetic leg in more dynamic settings where the prosthetic leg can be exposed to a variety of elements.
  • the load and moment sensor 100 has other features that make it robust. First, as long as applied cyclic forces result in loads and moments less than or equal to the rated load and moment, the cycle life of the load and moment sensor 100 will be practically infinite. As mentioned before, the use of semiconductor gauges for the strain gauges 122a - 122h allows the load and moment sensor 100 to be designed for relatively low strain in the region of the strain gauges 122a - 122h. The strain in the region of the strain gauges 122a - 122h is about 600 ⁇ strain at the rated load and moment. The maximum strain in the sensing element 102 is only slightly greater than this.
  • the stress in the sensing element 102 is always below the fatigue limit of the high strength stainless steel material used. This results in a practically infinite fatigue life of the sensing element 102.
  • the strain gauges can be rated to 2000 ⁇ strain for cyclic loads. At 600 ⁇ strain, the gauges themselves should also have a practically infinite fatigue life. Given all this, the main limiter to the cycle life of the load and moment sensor 100 is likely to be the cycle life of the bond between the strain gauges 122a - 122h and the sensing element 102. The cycle life of the bond tends to be very good given that this has been the focus of years of research and development in the strain gauge industry.
  • the load and moment sensor 100 can withstand loads and moments three times the rated load and moment without damage. This is because at three times the rated load, the yield strength of the sensing element 102 will not be exceeded, and the rated limit of 3000 ⁇ strain, strain for the strain gauges 122a - 122h will not be exceeded.
  • the resistance of the load and moment sensor 100 to overload conditions can also be improved by "preconditioning" the load and moment sensor 100. This means that after the strain gauges 122a - 122h are bonded to the sensing element 102, and before the strain gauges 122a - 122h are wired into the balanced Wheatstone bridges, the load and moment sensor 100 is exposed to a loading condition that produces loads and moments 1.5 - 2.0 times greater than the rated load and moment. In this way any localized plastic deformation of the sensing element 102 or any movement between the strain gauges 122a - 122h and the sensing element 102 due to imperfect bonding can be accounted for when the Wheatstone bridge is balanced.
  • components, devices, and systems of the present disclosure may include, be part of, or capable of integration with other components, devices, and systems, such as integrated circuits, processors, memory storage devices, etc.
  • Such enhancements may modify, store, review, analyze, or otherwise act on data provided by embodiments of the present disclosure.
  • aspects and implementations of the present disclosure may be useful for analysis of a variety of actions, activities, events, and phenomena.
  • embodiments may be used to analyze the separate, simultaneous, or relative contributions of force and moment at a given point.
  • Such information may be used to detect load and moments that approach the known limits of a system or device to avoid extension beyond said limits.
  • Such information may also be used to determine appropriate action in response to adjust at least one of the load and the moment.
  • embodiments may be used to collect information about activity and environment during a gait cycle.
  • the force along a length of a leg or prosthetic leg acting on a knee or prosthetic knee as well as the moment acting on the knee or the prosthetic knee may be sensed and utilized in a system or device to track, react to, or respond to such readings.
  • Responses may include the application of settings in a prosthetic knee to facilitate improved mobility of a user.
  • the present invention can also be used, for example, with other prosthetic joints and parts of the body.
  • the load and moment sensor 100 can also be used with other prosthetic joints and parts of the body.
  • the load and moment sensor 100 can also be used with prosthetic wrist joints and/or prosthetic elbow joints in addition to prosthetic knees or prosthetic ankles.
  • the load and moment sensor 100 may also be beneficially used in other applications such as in orthotics.
  • the load and moment sensor 100 has diverse application and can be used in other fields which require a compact and robust sensor to detect an applied load and an applied moment, such as in the field of robotics, and machinery, even when they do not relate to human movement.
  • features of devices and methods of the present disclosure may provide several features.
  • a single sensor the load and moment sensor 100 measures both the applied load along in a single direction and the applied moment in a single plane. Both outputs offer the benefits of a strain gauge Wheatstone bridge which include temperature compensated output and differential output.
  • the load and moment sensor 100 can withstand loads and moments three times the rated moment and load without damage and without a change in the no-load output.
  • the load and moment sensor 100 can also withstand large side loads, including loads due to impact, without a change in the no-load output. Further benefits include the following: the moment signal is less than 5 times the load signal at the rated load and moment; corrosion resistance; dust and water resistance; good side load rejection; compact, one piece design; and practically infinite cycle life when cyclic loads and moments are less than or equal to the rated load and moment.
  • the present invention includes a process as shown in FIG. 13 .
  • Step S1302 a first set of strain gauges located on a sensing element are used to measure a moment applied to a load and moment sensor.
  • the strain gauges 122a - 122d FIGS. 8 and 9 ) located on the sensing element 102 can be used to measure a moment applied to the load and moment sensor 100 in a single plane.
  • Step S1304 a second set of strain gauges located on the sensing element are used to measure the load applied to the load and moment sensor.
  • the strain gauges 122e - 122h FIGS.
  • the outputs of the strain gauges 122a - 122d can be part of the first Wheatstone bridge 140 ( FIG. 11 ), while the outputs of the strain gauges 122e - 122h can be part of the second Wheatstone bridge 142.
  • the strain gauges 122a - 122h can be located at specific locations as described above to allow for good side load rejection.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine.
  • a processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
  • a software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
  • An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium.
  • the storage medium may be integral to the processor.
  • the processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC).
  • the ASIC may reside in a wireless modem.
  • the processor and the storage medium may reside as discrete components in the wireless modem.

Claims (10)

  1. Kraft- und Momentensensor (100), der Folgendes umfasst:
    ein Sensorelement (102);
    eine erste Widerstandsschaltung (140), umfassend eine erste Vielzahl von vier Dehnungsmessstreifen (122a-122d), die auf einer zu einer Montagefläche (124) des Sensorelements (102) parallelen Ebene liegen, wobei jeder der Dehnungsmessstreifen der ersten Vielzahl von Dehnungsmessstreifen (122a-122d) äquidistant zu einer zwischen einer Vorderseite (108) und einer Rückseite (110) des Kraft- und Momentensensors (100) verlaufenden Mittellinie des Sensorelements (102) liegt, wobei die erste Widerstandsschaltung (140) ein Moment in einer einzigen Ebene erfasst; und
    gekennzeichnet durch
    eine zweite Widerstandsschaltung (142), umfassend eine zweite Vielzahl von vier Dehnungsmessstreifen (122e-122h), die auf dem Sensorelement (102) liegen, wobei jeder der Dehnungsmessstreifen der zweiten Vielzahl von Dehnungsmessstreifen (122e-122h) auf der Mittellinie des Sensorelements (102) liegt und zwei der zweiten Vielzahl von Dehnungsmessstreifen (122e, 122f) auf der zu der Montagefläche (124) des Sensorelements (102) parallelen Ebene liegen, wobei die zweite Widerstandsschaltung (142) eine Kraft in einer einzigen Richtung erfasst.
  2. Sensor nach Anspruch 1, wobei die erste Vielzahl von vier Dehnungsmessstreifen einen Ausgang bereitstellt, der einen Betrag eines auf den Kraft- und Momentensensor ausgeübten Moments darstellt.
  3. Sensor nach Anspruch 1, wobei eine erste Spannung unter Verwendung eines ersten Dehnungsmessstreifens und eines dritten Dehnungsmessstreifens der ersten Vielzahl von Dehnungsmessstreifen erzeugt wird, eine zweite Spannung unter Verwendung eines zweiten Dehnungsmessstreifens und eines vierten Dehnungsmessstreifens der ersten Vielzahl von Dehnungsmessstreifen erzeugt wird und ein Spannungsdifferential zwischen der ersten und der zweiten Spannung verwendet wird, um ein auf den Kraft- und Momentensensor ausgeübtes Moment zu bestimmen.
  4. Sensor nach Anspruch 1, wobei die zweite Vielzahl von vier Dehnungsmessstreifen einen Ausgang bereitstellt, der einen Betrag einer auf den Kraft- und Momentensensor ausgeübten Kraft darstellt.
  5. Sensor nach Anspruch 1, wobei eine erste Spannung unter Verwendung eines ersten Dehnungsmessstreifens und eines dritten Dehnungsmessstreifens der zweiten Vielzahl von Dehnungsmessstreifen erzeugt wird, eine zweite Spannung unter Verwendung eines zweiten Dehnungsmessstreifens und eines vierten Dehnungsmessstreifens der zweiten Vielzahl von Dehnungsmessstreifen erzeugt wird und ein Spannungsdifferential zwischen der ersten und der zweiten Spannung verwendet wird, um eine auf den Kraft- und Momentensensor ausgeübte Kraft zu bestimmen.
  6. Sensor nach Anspruch 1, wobei die erste Vielzahl von Dehnungsmessstreifen und die zweite Vielzahl von Dehnungsmessstreifen Halbleiterdehnungsmessstreifen umfassen.
  7. Verfahren zum Bestimmen einer Kraft und eines Moments, die auf einen Kraft- und Momentensensor (100) ausgeübt werden, wobei das Verfahren Folgendes umfasst:
    Verwenden einer ersten Vielzahl von vier Dehnungsmessstreifen (122a-122d), die auf einer zu einer Montagefläche (124) eines Sensorelements (102) parallelen Ebene liegen, um ein in einer einzigen Ebene auf den Kraft- und Momentensensor (100) ausgeübtes Moment zu messen, wobei jeder der Dehnungsmessstreifen der ersten Vielzahl von Dehnungsmessstreifen (122a-122d) äquidistant zu einer zwischen einer Vorderseite (108) und einer Rückseite (110) des Kraft- und Momentensensors (100) verlaufenden Mittellinie des Sensorelements (102) liegt; und
    gekennzeichnet durch
    Verwenden einer zweiten Vielzahl von vier Dehnungsmessstreifen (122e-122h), die auf dem Sensorelement (102) liegen, um eine in einer einzigen Richtung auf den Kraft- und Momentensensor (100) ausgeübte Kraft zu messen, wobei jeder der Dehnungsmessstreifen der zweiten Vielzahl von Dehnungsmessstreifen (122e-122h) auf der Mittellinie des Sensorelements (102) liegt und zwei der zweiten Vielzahl von Dehnungsmessstreifen (122e, 122f) auf der zu der Montagefläche (124) des Sensorelements (102) parallelen Ebene liegen.
  8. Verfahren nach Anspruch 7,
    wobei das Verwenden der ersten Vielzahl von Dehnungsmessstreifen zum Messen des auf den Kraft- und Momentensensor ausgeübten Moments das Verwenden der ersten Vielzahl von Dehnungsmessstreifen zum Bereitstellen eines den Betrag des auf den Kraft- und Momentensensor ausgeübten Moments darstellenden Ausgangs umfasst, und
    wobei das Verwenden der zweiten Vielzahl von Dehnungsmessstreifen zum Messen der auf den Kraft- und Momentensensor ausgeübten Kraft das Verwenden der zweiten Vielzahl von Dehnungsmessstreifen zum Bereitstellen eines den Betrag der auf den Kraft- und Momentensensor ausgeübten Kraft darstellenden Ausgangs umfasst.
  9. Verfahren nach Anspruch 7,
    wobei das Verwenden der ersten Vielzahl von Dehnungsmessstreifen zum Messen des auf den Kraft- und Momentensensor ausgeübten Moments das Erzeugen einer ersten Spannung und einer zweiten Spannung ausgehend von der ersten Vielzahl von Dehnungsmessstreifen und das Erzeugen eines ersten Spannungsdifferentials zwischen der ersten Spannung und der zweiten Spannung, um das auf den Kraft- und Momentensensor ausgeübte Moment zu bestimmen, umfasst, und
    wobei das Verwenden der zweiten Vielzahl von Dehnungsmessstreifen zum Messen der auf den Kraft- und Momentensensor ausgeübten Kraft das Erzeugen einer zweiten Spannung und einer dritten Spannung ausgehend von der zweiten Vielzahl von Dehnungsmessstreifen und das Erzeugen eines zweiten Spannungsdifferentials zwischen der dritten Spannung und der vierten Spannung, um die auf den Kraft- und Momentensensor ausgeübte Kraft zu bestimmen, umfasst.
  10. Sensor nach Anspruch 1, wobei das Sensorelement weiter eine Montagefläche umfasst, wobei es sich bei der ersten Vielzahl von Dehnungsmessstreifen um einen Teil einer ersten Wheatstone-Brücke handelt,
    wobei die erste Wheatstone-Brücke das Moment in der einzigen Ebene erfasst; und
    es sich bei der zweiten Vielzahl von Dehnungsmessstreifen um einen Teil einer zweiten Wheatstone-Brücke handelt,
    wobei die zweite Wheatstone-Brücke die Kraft in der einzigen Richtung erfasst.
EP11742613.0A 2010-02-12 2011-01-27 Kompakter und robuster lasten- und bewegungssensor Active EP2534458B1 (de)

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CA2789589C (en) 2015-12-29
EP3557210A1 (de) 2019-10-23
TR201905302T4 (tr) 2019-05-21
US20110197682A1 (en) 2011-08-18
EP2534458A4 (de) 2017-08-23
WO2011100117A2 (en) 2011-08-18
US8746080B2 (en) 2014-06-10
EP3557210B1 (de) 2022-12-14
WO2011100117A3 (en) 2011-11-17
US20140245840A1 (en) 2014-09-04
CA2789589A1 (en) 2011-08-18
EP2534458A2 (de) 2012-12-19

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